Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot

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dc.identifier.uri http://dx.doi.org/10.15488/10385
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/10459
dc.contributor.author Nuelle, Kathrin eng
dc.contributor.author Sterneck, Tim eng
dc.contributor.author Lilge, Sven eng
dc.contributor.author Xiong, Dezhu eng
dc.contributor.author Burgner-Kahrs, Jessica eng
dc.contributor.author Ortmaier, Tobias eng
dc.date.accessioned 2021-02-04T12:26:15Z
dc.date.issued 2020
dc.identifier.citation Nuelle, K.; Sterneck, T.; Lilge, S.; Xiong, D.; Burgner-Kahrs, J.; et al.: Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot. In: IEEE Robotics and Automation Letters, 5 (2020), Nr. 4, S. 5811-5818. Piscataway, NJ : IEEE, 2020. DOI: https://doi.org/10.1109/LRA.2020.3010213 eng
dc.description.abstract In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions for conventional planar parallel manipulators to include constant curvature bending of the utilized continuous segments. To account for friction and non-linear material effects, a data-driven model is used to relate tendon displacements and curvature of the utilized continuum segments. A calibration of the derived kinematic model is conducted to specifically represent the constructed prototype. This includes the calibration of geometric parameters for each kinematic chain and for the end-effector platform. During evaluation, positioning repeatability of 1.0% in relation to one continuum segment length of the robot, and positioning accuracy of 1.4%, are achieved. These results are comparable to commonly used kineto-static modeling approaches for PCR. The presented model achieves high path accuracies regarding the robot's end-effector pose in an open-loop control scenario. eng
dc.language.iso eng eng
dc.publisher Piscataway, NJ : IEEE
dc.relation.ispartofseries IEEE Robotics and Automation Letters, 5 (2020), Nr. 4, S. 5811-5818 eng
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. eng
dc.subject Flexible robots eng
dc.subject parallel robots eng
dc.subject kinematics eng
dc.subject calibration and identification eng
dc.subject.ddc 600 | Technik
dc.title Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot eng
dc.type article eng
dc.type Text eng
dc.relation.doi https://doi.org/10.1109/LRA.2020.3010213
dc.description.version acceptedVersion eng
tib.accessRights frei zug�nglich eng


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